On discrete-time uncertain visual based control of planar manipulators: an online algebraic identification approach

A new algebraic method, developed by the authors for the online identification of uncertain parameters in linear controlled dynamic systems, is used in the complete, discrete-time formulated solution of the perturbed visual feedback based position trajectory tracking control for planar manipulators, as provided by a fixed camera with unknown calibration parameters. Specifically, we hypothesize unknown camera scaling factor, unknown camera angular orientation and uncertainty, but with constant bias perturbation inputs in the visual flow dynamics. Digital simulations, additionally including unmodelled computer generated stochastic inputs, illustrate the robust performance of the proposed closed loop control-identification scheme.